Well, there are some 'poorly optimised' games out there. Am able to run eg. Cyberpunk 2077 near maximum (non-raytraced) settings and it happily trundles along at 80+ fps. Would really like to play Mind Over Magic, just my kind of game and which looks like it was done on the Quake3 engine, and I'm struggling since it runs like absolute ass regardless of what the settings are. Think that's the joy of Unity, though.
I think a lot of the problem is that we're long past the point where diminishing returns kick in. Doubling the amount of processing required for a few percent more lighting fidelity, that kind of thing. Half Life 2 was expensive for its day, mostly due to its extended development - about $40m then, equivalent of ~$70m now - but it still looks great, mostly due to its strong art style. (I realise Valve keep sneakily updating the engine, so things like the water effects are much better now than they were on release.) There's games that cost ten times as much and which don't really look a lot better, but which will get tagged as 'badly optimised' since they're chasing the very latest graphical shinies.
I think the sheer price of producing all of those HD assets is a significant risk to any studio, and means that we end up with a lot of cookie-cutter AAA games where the industry is very cautious about taking chances of any kind. Maybe I'm not the main target for the shiniest of graphics, but my Steam games with the most hours - Dwarf Fortress, Oxygen Not Included, the Dark Souls series, Crusader Kings - run the gamut from 'charmingly simple' to 'functionally realistic', but I'd not describe any of them as great because of their graphics.
Alonne runback is some bullshit. I reckon bed of chaos, magic smelter demon, darklurker, and (especially) the reindeer run to the twin pets are all much worse, though. DS3 doesn't have any that are particularly bad, and ER generally has stakes near bosses - they've mostly learned their design lesson.
If you start at the firelink bonfire, you can travel down to Londo, and at the place where the first ghosts appear, drop down to the "square pool of water" in the lower ruins. Beat up one darkwraith, put on your 4K gear, and run through to the spiral staircase. Not terrible.
Can't imagine your 4K gear being anything other than Havel's, the stamina shield, and your highest DPS weapon, and your tactics r1-r1-r1-r1-r1-estus-repeat, of course. Even on an SL1 run, they're not exactly a 'strategy' boss.